problem with JT5

    Hi from Russia, please, i dont know how fix thix error? I think need use calibration JT5 encoder, put i dont find how do it.

    Robot does not work either in manual or automatic - error - Cannot move along straight line JT5 in this configuration.


    Thank you!

    P.s. sry for bad english :smiling_face_with_halo:

    Welcome to the forum............:beerchug:


    It sounds like JT5 position is in straight line with JT4 or/and JT6 - called singularity.

    When in this condition:

    - Go into Teach Mode.

    - Reset error.

    - Select JOINT INTERPOLATION

    - Return all joints to known good position.


    You should be able to jog ALL joints individually now without problem.

    So move all joints back to starting position of program and restart program from start again.

    Be careful with external harness and makes sure is not wrapped up when moving.

    Maybe slow speed first time and observe correct motion is achieved.

    Thank you!) i wil ltry it)

    If not can you post back with the following:

    - Controller Model and Robot Arm Model.

    - Photograph of physical position of Robot Arm.

    - Photograph of Joint Monitor screen (screen which displays joint angles of Robot Arm on Teach Pendant).

    Quote from kwakisaki

    If not can you post back with the following:

    - Controller Model and Robot Arm Model.

    - Photograph of physical position of Robot Arm.

    - Photograph of Joint Monitor screen (screen which displays joint angles of Robot Arm on Teach Pendant).

    Hi man, it’s not work, but I can move two axis( JT6, JT7).

    JT5 dose move in any direction.

    X,Z,JT4 - move on “-“ direction,

    Y - move on “+” direction.

    Model 3CX165L-BC02.

    Sry, I’m work with him 4 day and I don't know much🥲

    Yes, I agree.

    Your joint angle values for JT4 and JT5 values appear to be too much and I think require re-zeroing.


    However, this is strange for 2 axes to be suddenly incorrect zeroing, so couple of questions first please:

    1. Have you/work colleague attempted to load ANY data onto robot to try and fix.

    2. Have you/work colleague replaced either motor/gearbox on robot.

    3. Have you/work colleague observed encoder battery warning alarm.

    4. How old is robot, do you know condition of encoder battery - how old, when was last replaced.

    5. Do you have cubic s installed on this system.

    6. Can you describe what application is - What is Robot doing.

    so far I know that there was a battery change recently, when it happened

    Quote from vak_beep

    so far I know that there was a battery change recently, when it happened

    That would make sense, if battery becomes too low, then encoder values become changed and after change should carry out re-zeroing.


    Can you answer:

    1. If Cubic S is installed.

    2. What is application of robot.

    in addition to replacing the battery, no fixes were made, cubix does not seem to be installed

    Attached is re-zero manual for CX Series Arm for reference.

    Look at picture on Page 7 - This is correct physical posture for mechanical zero alignment.

    Also complete procedures are written in here using ZZERO command.


    I suggest the following:

    1. Take controller file save to USB first.


    2. Using JOINT INTERPOLATION MODE, move ALL joints to scribe lines exactly.


    3. You may not be able to move JT4 and JT5 to scribe line though.


    4. Move Joints 1,2,3,6,7 to scribe lines and check joint angle monitor states 0 degrees.


    5. Turn off Motor Power then select keyboard on teach pendant.

    - Type in ZZERO 104 and press enter

    - Type in 0 for 0 deg and press enter

    - Press 1 to execute.

    - Type in ZZERO 105 and press enter

    - Type in 0 for 0 deg and press enter

    - Press 1 to execute.


    6. Now move JT4 and JT5 and align with scribe lines.


    7. Turn off Motor Power then select keyboard on teach pendant.

    - Type in ZZERO 104 and press enter

    - Type in 0 for 0 deg and press enter

    - Press 1 to execute.

    - Type in ZZERO 105 and press enter

    - Type in 0 for 0 deg and press enter

    - Press 1 to execute.

    - Type in ZZERO 4 and press enter.

    - Type in 1 to execute.

    - Press enter.

    - Type in ZZERO 5 and press enter.

    - Type in 1 to execute.

    - Press enter.


    8. Zeroing of JT4 and JT5 should be complete.

    - Check Joint angle monitor for correct values: - 0 degrees.

    - Check positions to confirm correct.


    9. If positions are out, then I suggest re-zeroing of ALL axes using procedure in manual attached.

    it`s work! Thank you!

    with "Zeroing"on menu - advanced setting. next step - set to mechanical zero and zeroed again. Thk you!

    Good man, glad to hear.............:top:


    Yes, there are 2 methods for zeroing you can use either one:

    - Using Aux Func 05 Zeroing.

    - Using ZZERO instruction in keyboard.


    If all correct and existing positions are correct, then make a full file save to USB, just in case of problems again.


    Zeroing should only be required if:

    - Mechanical change is made like new motor, gearbox.

    - Encoder Battery is exhausted too low.


    If encoder battery alarm ever appears again - DO NOT POWER OFF THE CONTROLLER.

    Only power off, when you have battery in hand ready to replace it.

    Then encoder values will not be lost and re-zeroing not then required.

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